ZZ-EFEM/Framework/AitexSorterRT/SorterCommonFrame/Routines/GotoRoutine.cs

using System;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using Aitex.Sorter.RT.SorterCommonFrame.Modules;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using System.Threading;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.RT.SorterCommonFrame.SorterJobControl;

namespace Aitex.Sorter.RT.SorterCommonFrame.Routines
{
    public class GotoRoutine : CommonRoutineSorter, IRoutine
    {
        enum GotoStepEnum
        {
           Step1,
           Step2
        }

        private int _timeout = 0;

        public GotoRoutine(string module, string name)
        {
            Module = module;
            Name =name;            
        }

        public bool Initalize()
        {
            Reset();
            IsRoutineActive = false;
            return true;
        }

        public ModuleName Source { get; set; }
        public int Slot { get; set; }
        public Hand Blade { get; set; }

        public RobotPostionEnum PositionCategory { get; set; }
        public ModuleName RobotModulename { get; set; } = ModuleName.Robot;

        public Result Start(params object[] objs)
        {
            Reset();               

            Robot = DEVICE.GetDevice<RobotBaseDevice>(RobotModulename.ToString());
            _timeout = Robot.RobotCommandTimeout;

            EV.PostInfoLog("System",$"Start picking wafer from station:{Source} slot:{Slot+1} with blade {Blade}");

            IsRoutineActive = true;
            return Monitor();
        }

        public Result Monitor()
        {
            if (!IsRoutineActive) return Result.DONE;
            var ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                IsRoutineActive = false;
            }
            if (ret == Result.DONE)
            {
                IsRoutineActive = false;
            }
            return ret;
        }
        private Result MonitorRoutine()
        {
            try
            {
                RtRobotArmGotoPosition((int)GotoStepEnum.Step1, Source,Slot, Blade, PositionCategory, _timeout, Notify, Stop);               
                if (ExecuteResult.Item1)
                {
                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                }
                EV.PostInfoLog("System", $"Complete picking wafer from station:{Source} slot:{Slot + 1} with blade {Blade}.");

                IsRoutineActive = false;
                return Result.DONE;


            }
            catch (Exception ex)
            {
                EV.PostAlarmLog("System", $"Failed to pick wafer from station:{Source} slot:{Slot + 1} with blade {Blade}.");
                LOG.Write(ex);
                IsRoutineActive = false;
                return Result.FAIL;


            }

        }


    }
}